US 12,113,954 B2
Processing of signals using a recurrent state estimator
Walter Nistico, Redwood City, CA (US)
Assigned to Apple Inc., Cupertino, CA (US)
Filed by APPLE INC., Cupertino, CA (US)
Filed on Aug. 13, 2021, as Appl. No. 17/401,672.
Application 17/401,672 is a continuation of application No. PCT/US2020/023758, filed on Mar. 20, 2020.
Claims priority of provisional application 62/824,497, filed on Mar. 27, 2019.
Prior Publication US 2021/0377512 A1, Dec. 2, 2021
Int. Cl. H04N 13/279 (2018.01); H04N 13/271 (2018.01); H04N 13/293 (2018.01); H04N 13/296 (2018.01)
CPC H04N 13/279 (2018.05) [H04N 13/271 (2018.05); H04N 13/293 (2018.05); H04N 13/296 (2018.05)] 22 Claims
OG exemplary drawing
 
1. A method comprising:
receiving pixel events output by an event sensor, each respective pixel event generated in response to a specific pixel within a pixel array of the event sensor detecting a change in light intensity that exceeds a comparator threshold, the pixel events corresponding to a feature disposed within a field of view of the event sensor;
determining a characteristic of the feature at a first time based on the pixel events and a previous characteristic of the feature at a second time that precedes the first time, wherein the previous characteristic of the feature at the second time was a result of a previous characteristic determination based on previous pixel events, wherein the characteristic is determined by inputting the pixel events output by the event sensor to a neural network that produces output corresponding to the characteristic based on the pixel events and state information corresponding to the previous characteristic, the neural network comprising a filter configured to persist the state information from earlier input data for use in generating subsequent outputs; and
tracking movement of the feature relative to the event sensor over time based on the characteristic and the previous characteristic.